Parallel Robot Structure Optimizations for a Friction Stir Welding Application

F. Dardouri, G. Abba, W. Seemann

2017

Abstract

Today industrial robots are used in many manufacturing applications because of their versatility and easy applicability. Notwithstanding their performance these robots are not suitable for some manufacturing processes where uniform and high forces together with suitable precision of position are required. The present research is focused on one of the high thrust operations, the friction stir welding (FSW). This method for connecting two parts works while the connected materials are in the solid phase. For this reason a very high thrust force is needed to soften the material during the welding process. Due to these high forces the position of the tool of a serial robot deviates from the desired trajectory. In this paper the possibility of using a parallel structure device is investigated to improve the load capacity and stiffness of a heavy manipulator robot. Such a system may exert forces directly on the process tool. In this way the movement of the tool is mainly generated by the industrial serial robot, while the parallel structure ensures the generation of very high thrust forces.

Paper Citation

in Harvard Style

Dardouri F., Abba G. and Seemann W. (2017). Parallel Robot Structure Optimizations for a Friction Stir Welding Application . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 372-381. DOI: 10.5220/0006434203720381

in Bibtex Style

@conference{icinco17,
author={F. Dardouri and G. Abba and W. Seemann},
title={Parallel Robot Structure Optimizations for a Friction Stir Welding Application},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={372-381},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006434203720381},
isbn={978-989-758-264-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Parallel Robot Structure Optimizations for a Friction Stir Welding Application
SN - 978-989-758-264-6
AU - Dardouri F.
AU - Abba G.
AU - Seemann W.
PY - 2017
SP - 372
EP - 381
DO - 10.5220/0006434203720381